Path guidance systems for a parachute/paraglider and flight path planning devices for planning the use of at least one parachute or paraglider, and system for carrying out said path guidance and planning

ABSTRACT

Flight path planning device for determining path guidance specifications for at least one parachute or paraglider ( 5 ), which determines an altitude/time corridor ( 20, 30 ) as a flying range to be maintained by the parachute or paraglider ( 5 ) or an altitude/timeline ( 28 ) as a desired specification, the limits of which are formed from altitude/timelines ( 22, 24; 31, 32 ) on the basis of a reference point determined by an altitude and a time coordinate, whereby the course of the altitude/timelines is formed respectively from the integral of a predetermined sink rate (v)/time and whereby different sink rates are assigned to the altitude/timelines, and a path guidance system for determining control specifications for controlling the parachute or paraglider.

[0001] The invention relates to path guidance systems for a parachute orparaglider and processes provided for implementation in a computersystem for path guidance and flight path planning devices and processesprovided for implementation in a computer system for planning thedeployment of at least one parachute or paraglider. Flight planningstations for planning flight routes for aircraft are known as the priorart. Furthermore, navigation equipment for paraglider pilots is knownfrom the general prior art.

[0002] In DE 43 36 056 A1 it is proposed in order to achieve thegreatest possible local accuracy with reference to a spatiallydetermined landing point, to provide a position-determining unit, aflight control device and operating means for steering a parachute withwhich the parachute is to be kept on a desired flight path. According toDE 43 36 056 A1, the desired flight path is determined in a firstembodiment in a very complex manner in a flight planning computer,whereby the actual calculation process is not disclosed. In anotherembodiment of DE 43 36 056 A1 the desired flight path is determined bymeans of a GPS position sensor by a parachutist flying ahead, in thathis actual flight path determined according to the three spacecoordinates is transmitted via a radio transmitter to subsequentparachutes. By these means a parachute is kept on a predetermined flightpath and steered to the landing point.

[0003] The process proposed in DE 43 36 056 A1 has the disadvantage thatlocal wind conditions make controlling a plurality of parachutesimpossible, since they cannot keep to the desired flight path, e.g., dueto strong downdrafts or headwinds. Another disadvantage is that it ismandatory for the desired flight path to be determined in its spatialcourse and transmitted to the flight control device. Thus aposition-determining unit in the form of a GPS position sensor isnecessary in the flight control device of DE 43 36 056 A1, which has thedisadvantage, for example, that it is interference-prone and inunfavorable terrain, in particular in mountainous areas or in hostileterrain, reception is not ensured in every flight phase. Moreover, thecalculation of desired flight paths according to DE 43 36 056 A1 islaborious and dependent on some uncertainties, such as, e.g., correctassumptions about the wind profile.

[0004] The object of the invention is to provide a device for planningand path guidance for setting down parachutes and correspondingprocesses, which device is largely independent of atmosphericconditions, can be realized with the simplest possible technical meansand is also suitable for a large number of parachutes or paragliders.

[0005] This object is attained with the features of the independentclaims. Further embodiments are disclosed in their dependent claims.

[0006] According to the invention, a very simple system can be used forpath guidance and control, since only a clock and a pressure gauge todetermine the actual values and a comparison device to compare thesewith the desired altitude/time coordinates is necessary. The planningdevice according to the invention is likewise very simple to execute,since to determine the desired specifications in the form of thealtitude/time coordinates simple calculations without complex models,e.g., for wind profiles or pressure conditions, can be used. The systemfor path guidance and control according to the invention is notinterference-prone, either, which is very important in the case ofmilitary deployments. Because a satellite navigation device is no longernecessary, deployment in difficult terrain, such as, e.g., inmountainous areas where reception is not guaranteed in every flightphase. These disadvantages are overcome with the approach according tothe invention.

[0007] When setting down a large number of parachutes, by usingaltitude/time coordinates for the desired path and the path guidance andcontrol, it is ensured that local wind and pressure conditions nouncertainty can occur regarding keeping minimum distances between theparachutes and in this manner collisions can be avoided with greatreliability.

[0008] The invention is described below on the basis of the attachedfigure. They show:

[0009]FIG. 1A diagrammatic representation of the path guidance systemfor a parachute or paraglider according to the invention and thedeployment control device according to the invention assigned thereto,

[0010]FIG. 2A diagrammatic representation of three exemplary pathguidance corridors and assigned altitude/timelines according to theinvention, which together form a corridor arrangement according to theinvention,

[0011]FIG. 3 Four individual diagrams with respectively onealtitude/time corridor and the assigned reference line, whereby the fourcorridors do not overlap one another and together represent a corridorarrangement according to the invention.

[0012]FIG. 1 shows a path guidance system 1 for a parachute orparaglider and a deployment system or a flight path planning device 3according to the invention, which system can be used for the pathguidance system 1. The path guidance system 1 for a parachute or aparaglider is part of a load 6 carried by a parachute or paraglider 5,which load can also include a person. The parachute or paraglider 5,which is in flight in the representation in FIG. 1, has been set down byan aircraft 7 whose flight path or whose desired altitude line isrepresented symbolically by an arrow 8. The flight path of the parachuteor paraglider 5 is represented symbolically by an arrow 9.

[0013] The path guidance system 1 for a parachute or paraglidercomprises a flight path control system 111 that determines controlspecifications for controlling the path guidance system 1 for aparachute or paraglider, and a man-machine interface 113 that cancomprise, e.g., a display or a loudspeaker.

[0014] The parachute or paraglider 5 for which the path guidance system1 according to the invention or the associated process is provided, canbe manned or unmanned. If the parachute or paraglider 5 is unmanned, theparachute or paraglider system 1 still features a control unit 110 tocontrol the parachute or paraglider 5 with an operating unit to adjustits control surfaces. Such a control unit 110 with operating unit canoptionally also be provided for a manned parachute or paraglider 5 inthe path guidance system 1 according to the invention.

[0015] The deployment system 3 or the process provided for it determinespath guidance specifications for a single path guidance system of aparachute or paraglider 5 or for path guidance systems 1 of parachutesor paragliders 5 of a parachute or paraglider group, whereby a desiredaircraft path 8 from which the at least one parachute or paraglider 5 isset down, is used as a reference line. The deployment system 3 can beembodied as a ground station, as a mobile instrument or as an instrumentcarried on or installed in the aircraft.

[0016] The deployment system 3 according to the invention andcorresponding processes are described below:

[0017] The deployment system 3 determines for at least one parachute orparaglider 5 path guidance specifications in the form of one or morealtitude/time corridors or, in an alternative path guidance concept, inthe form of an altitude/timeline for each parachute or paraglider 5 tobe guided or in a form to be derived therefrom. The altitude/timeline orthe altitude/time corridor are each determined through their altitudecourse as a function of the time on the basis of assumed sink rates thatcan also be altitude- and time-dependent.

[0018] The altitude/time corridor used to form the path guidancespecifications according to the invention can be a desired corridor 20or a safety corridor 30 or, alternatively, can comprise a desiredcorridor 20 as well as a safety corridor 30. These corridors 20 or 30respectively represent a permissible altitude/time range or desiredrange or a safety range determined by altitude and time, in which rangethe respective parachute or paraglider 5 is guided with the aid of thespecifications compiled by the path guidance system 1. The at least onealtitude/time corridor 20, 30 or the at least one altitude/timeline onthe one hand can be formed on the basis of a start or set-down point 21that is predetermined or determined by means of the deployment system 3,which start or set-down point 21 is determined by an altitude and a timeand in general is independent of the geographical location. The set-downpoint 21 can be located in particular on the desired aircraft path 8 orcan be a fictitious set-down point independent thereof which in turn isto be determined by a specific altitude and a specific time. On theother hand, the altitude/time corridor 20, 30 or the altitude/timelinecan be formed on the basis of a touchdown point 29 that is determined byits altitude and a time.

[0019] In the formation of the desired corridor 20 through thedeployment system 3, the desired corridor 20 is defined by a first orupper desired altitude/timeline 22 that is derived from a minimum sinkrate of the parachute or paraglider 5 and through a second or lowerdesired altitude/timeline 24 that is derived from a maximum sink rate ofthe parachute or paraglider. The minimum and maximum sink rate can bedetermined respectively from a nominal sink rate or directly. A nominalsink rate provides a reference altitude/timeline 28 that can likewise bedetermined in the deployment system 3. Safety altitude/timelines 31, 32to form the safety corridor 30 are located at a distance, which ingeneral is time-dependent, from a desired altitude/timeline 22, 24 inthe direction of the respectively assigned desired altitude/timeline ofthe same corridor.

[0020] Alternatively, the formation of the desired corridor 20 can alsobe made through the deployment system 3 from the nominal sink rate andthe reference altitude/timeline 28 derived therefrom. The desiredaltitude/timelines 22, 24 can be determined from this at a distance fromthe reference altitude/timeline 28, which distance in general isaltitude- and time-dependent.

[0021] Furthermore, within the desired corridor 20 a safetyaltitude/time corridor or safety corridor 30 can be provided, which islimited by a first or upper safety altitude/timeline 31 and a second orlower safety altitude/timeline 32. The first 31 and the second safetyaltitude/timeline 32 is respectively removed from the first desiredaltitude/timeline 22 or the second desired altitude/timeline 24 by adistance that is constant or variable over the altitude and withreference thereto lies respectively on the side of the reference line28. The deployment system 3 can also be embodied in such a way that itdetermines only safety altitude/time corridors 30 from correspondingequations directly, i.e., without forming the first 22 and the seconddesired altitude/timeline 24.

[0022] To form the desired altitude/timelines 22, 24, the safetyaltitude/timelines 31, 32 and the reference altitude/timeline 28, astarting point respectively determined in time and altitude, whichstarting point is the set-down point or start point 21 or is derivedtherefrom, or an end point that is the touchdown point 21 or is derivedtherefrom, in general, therefore, a reference point can be taken as thebasis, whereby the reference point is established according to analtitude and a time coordinate. For each time a point of the respectivealtitude/timeline 22, 24, 31, 32, 28 results that is determinedaccording to the invention, in that from the altitude associated withthe respective reference point an altitude difference on the basis of alanding point as reference point is added or on the basis of a set-downpoint as reference point is subtracted. This altitude difference therebyresults on the basis of an assumed or determined sink rate of therespectively used parachute or paraglider 5 and a given one. Thealtitude to be subtracted from or added to a reference point is formedfrom the integral of the respective sink rate/the time elapsing from thereference time associated with the reference point.

[0023] In mathematical notation on the basis of a reference point withthe altitude H_(a) on the basis of a sink movement with the velocity v,the altitude H associated with a specific time results as follows:

H=H _(a)−_(t) _(e) ^(t) ∫v·dt

[0024] On the basis of a predetermined end point of the path of theparaglider or parachute as reference point with the altitude H_(e), thealtitude H associated with a specific time results with an observationcontrary to the time direction on the basis of a fictitious upwardmovement of the parachute with the velocity v:

H=H _(e)+_(t) _(e) ^(t) ∫v·dt

[0025] The meaning of the individual labels is as follows:

[0026] H Altitude of the altitude/time coordinates of analtitude/timeline to be determined

[0027] t The time associated with H

[0028] H_(a)—Starting altitude of a reference point when the movement isobserved in the time direction

[0029] t_(a)—The starting time associated with H_(a)

[0030] H_(e)—End altitude of a reference point when the movement isobserved contrary to the time direction

[0031] t_(e)—The end time associated with H_(e)

[0032] v—The sink velocity of the parachute or paraglider 5 which can bein particular a function of the altitude H.

[0033] A nominal, a minimum or a maximum sink velocity can be used asthe sink velocity, depending on the altitude/time coordinates to bedetermined of an altitude/timeline 22, 24, 31, 32, 28 as described.

[0034] In the use of the invention for the coordinated path guidance andthe determination of corresponding path guidance specifications ofseveral parachutes or paragliders, according to the invention therespective reference point is specifically selected for the respectiveparachute or paraglider 5 in time and altitude such that the relevantaltitude/time corridors for different parachutes or paragliders 5 do notoverlap or, alternatively, a generally altitude- and time-dependentdistance is maintained. The desired corridor 20 or the safety corridor30 or both cited corridors or combinations of the same can be used todetermine the distance between respectively relevant altitude/timecorridors. The corridors for different parachutes or paragliders can bedesigned differently.

[0035] In determining the path guidance specifications on the basis ofthe use of altitude/timelines, predetermined minimum distances betweenthe respectively adjacent altitude/timelines are to be provided whichcan be altitude- and time-dependent.

[0036] The first desired altitude/timeline 22 features a first start orreference point 61 lying at a first end and possibly on the desiredaircraft altitude line 8 and the second desired altitude/timeline 24features a second start or reference point 62 likewise lying at orrelated to its first end and possibly on the desired or actual aircraftaltitude line 8. In an analogous manner the desired altitude/timelines22, 24 feature a first 63 and a second 64 desired end point at theirsecond ends. The formation of the desired corridor 20 according to theinvention can be made via the definition of these desired start or endpoints by means of the above formulae using the relevant sink velocity.Alternatively, the desired altitude/timelines 22, 24 can be formed fromthe reference altitude/timeline 28, whereby the desiredaltitude/timelines result from the reference altitude/timeline 28 by theaddition or subtraction of a generally altitude- and time-dependentdistance thereby.

[0037] In a further embodiment of the invention the altitude/timelinesare formed on the basis of an altitude point of a firstaltitude/timeline, e.g., of the reference or a first desired or safetyaltitude/timeline by the addition of a corresponding time interval.

[0038] The desired start or end points 61, 62, 63, 64 for the first 22and second 24 desired altitude/timeline can thereby also be definedindependently of the desired or actual aircraft altitude line 8. Thefirst 61 and the second 62 desired start point can also be establishedas identical to the set-down location 21, i.e., these can also beidentical. Preferably the first desired start point 61 for a firstaltitude/timeline is at a first distance 66, e.g., in the flightdirection before the set-down point 21 or another reference point, andthe second desired start point 62 for a second altitude/timeline is at asecond distance 67, e.g., in the flight direction after the set-downpoint 21 or another reference point, whereby the first distance 66 canbe equal to the second distance 67. Preferably the first distance 66 dueto the speed of the aircraft setting down the parachute or paraglider isgreater than the second distance 67 by an amount, whereby this amountdepends on the aircraft speed. This applies analogously to the desiredend points 63, 64. The given boundary conditions can be met on the basisof an assessment of the local atmospheric conditions or on the basis ofcalculations.

[0039] The determination of the safety altitude/timelines 31, 32 cantake place analogously via a corresponding first 71 and second 72 startreference point or a corresponding first 73 and second 74 end referencepoint. Correspondingly, according to the invention the formation of thesafety altitude/time corridor 30 can be made via the definition of startor end reference points.

[0040] However, the desired corridors 20, safety corridors 30 or, in thealternative path guidance concept, altitude/timeline can also be formedrelative to one another through the addition of a time interval betweenrespectively adjacent corridors or altitude/timelines.

[0041] An average altitude/timeline or reference line 28 can bedetermined between the first desired altitude line 22 and the seconddesired altitude line 24, which average altitude/timeline passes throughthe set-down point 21 and an average or reference touchdown point 29 orpoints derived therefrom. The formation of the reference line 28 canalso be made from at least one desired altitude/timeline 22, 24.

[0042] The first desired altitude/timeline 22 and the secondaltitude/timeline 24 are determined as a function of the time at leastregarding their altitude course. Accordingly, the set-down point 21, thetouchdown point 29 and the reference points 71, 72, 73, 74 areestablished according to the altitude and the time.

[0043] The course of the altitude/timelines 22, 24, 31, 32, 28 resultsfrom the anticipated minimum or maximum or nominal sink rate. Therespective relevant sink rate or the sink rate used in an embodiment canbe established in the deployment system 3 on the basis of predeterminedassumptions, determined experimentally or determined from influencingvariables. The atmospheric or wind conditions, the air density as afunction of the altitude or parachute or paraglider parameters canadvantageously be used as influencing variables. In particular, the massof the parachute or paraglider and what is attached, i.e., the pilotwith load, and lift coefficient, the effectiveness of the controlsurfaces as a function of the regulating distance of the control linesand the surface of the parachute or paraglider can be included in thedetermination of the sink rates as parachute or paraglider parameters.The wind conditions can be detected by means of a suitable wind model,by means of the assumption of disturbances, such as, e.g. maximumupdrafts and downdrafts, or by means of other assumptions about the windconditions and included in the sink rate determination.

[0044] Determining the minimum and maximum sink rate can be done indifferent ways. Preferably, a standard or nominal sink rate is taken asa basis which, e.g., have been determined by experimental methods. Theeffect of the mentioned or, if necessary, also other influencingvariables on the minimum and maximum sink rate can take place on thebasis of a minimum and maximum reference sink rate via deviations thatare determined via measure coefficients of the influencing variables andweighting factors.

[0045] The courses of the desired altitude/timelines 22, 24 and thesafety altitude/timelines 31, 32 and the reference line 28 can bestraight or also curved, depending on the consideration of theinfluencing variables.

[0046] The deployment system 3 according to the invention can alsodetermine several desired altitude/time corridors 20 a, 20 b, 20 cand/or associated safety altitude/time corridors 30 a, 30 b, 30 c (FIG.3). At least the safety altitude/time corridors and, if necessary, thedesired altitude/time corridors for various parachutes and paragliders 5are generally located in a predetermined manner relative to one anotherand in particular relative to one another such that they do not overlapat one time. Preferably a corridor distance 35 can be provided betweenthe desired altitude/time corridors or the safety altitude/timecorridors.

[0047] A plurality of altitude/time corridors or safety altitude/timecorridors determined by the deployment system 3 is provided for aplurality of parachutes or paragliders 5, whereby a desiredaltitude/time corridor or safety altitude/time corridor is assigned toeach parachute or paraglider 5.

[0048] The determination of the desired altitude/time corridors 20 orsafety altitude/time corridors 30 or alternatively of thealtitude/timelines is made for the purpose of coordinating the flightpath of a parachute or paraglider 5 or of several parachutes orparagliders. The guidance of only one parachute or paraglider 5 can beprovided to ensure the touchdown of the parachute or paraglider 5 in theterrain within a predetermined time window. In determining severalaltitude corridors or operational altitude corridors or alternatively ofaltitude/timelines for several parachutes or paragliders, these arepreferably provided in order to guide each parachute or paraglider in aregion that is safe for it and in order to avoid a collision withanother parachute or paraglider 5.

[0049] The desired altitude/time corridors 20 or safety altitude/timecorridors 30 or alternatively altitude/timelines can be provided withinthe deployment system 3 or another control unit for the planning andcontrol of parachute or paraglider deployments. Parachute or paragliderpilots can use these desired altitude/time corridors 20 or safetyaltitude/time corridors 30 with or without a path guidance system 1.Without the path guidance system 1, the corridors can serve the pilotsas orientation. An alternative path guidance system 1 according to theinvention determines concrete path guidance specifications for theparachute or paraglider pilot in order to also indicate them to him.

[0050] Data for describing the desired altitude/time corridor 20 orsafety altitude/time corridor 30 provided for a concrete parachute orparaglider system or alternatively altitude/timelines can be transmittedfrom the deployment system 3 to the respective path guidance system 1 onthe one hand manually before the respective parachute or paragliderflight or via a data line. On the other hand, this transmission can alsooccur during the flight by radio connection.

[0051] The flight path planning device according to the invention fordetermining path guidance specifications for at least one parachute orparaglider 5 determines an altitude/time corridor 20, 30 as a flyingrange to be maintained by the parachute or paraglider 5, the limits ofwhich flying range are formed by altitude/timelines 22, 24; 31, 32 onthe basis of a reference point determined by an altitude and a timecoordinate, whereby the course of the altitude/timelines 22, 24; 31, 32is respectively formed from the integral of a predetermined sink ratev/time, and whereby different sink rates are assigned to thealtitude/timelines 22, 24; 31, 32. The altitude/time corridor can beformed from a first altitude/timeline on the basis of a maximum sinkrate and from a first altitude/timeline on the basis of a minimum sinkrate of the parachute or paraglider. Alternatively, the flight pathplanning device determines an altitude/timeline 28 on the basis of areference point determined by an altitude and a time coordinate as adesired line to be maintained by the parachute or paraglider at apredetermined distance, the course of which desired line is formed fromthe integral of a predetermined sink rate (v)/time. The reference pointcan be a set-down point or a touchdown point. According to theinvention, in particular several altitude/time corridors 20, 30 orseveral altitude/timelines 28 can be used which are staggered from oneanother in a constant manner or in a time-dependent manner regarding thetime coordinate in order to render possible the set-down of a largenumber of parachutes or paragliders.

[0052] Correspondingly, according to the invention a process providedfor implementation in a computer program system for determining pathguidance specifications for the control of parachutes or paragliders isprovided, in which process the described altitude/time corridor 20, 30or the desired altitude/timeline 28 is determined.

[0053] According to the invention, a path guidance system andcorresponding processes for implementation in such a path guidancesystem is also described:

[0054] The path guidance system 1 according to the invention as part ofa parachute or paraglider system uses data to describe at least onecorresponding desired altitude/time corridor 20 or safety altitude/timecorridor 30 or, alternatively, at least one altitude/timeline that havebeen transmitted from a planning device or manually entered. Inparticular with manual entry, path guidance system 1 calculationalgorithms can be implemented so that only very few or simple entriesare necessary, e.g., a nominal sink rate of the parachute or paraglider5 or a maximum or minimum sink rate. The path guidance system 1determines path guidance measures or specifications on the basis of thepath guidance specifications in the form of the altitude/timeline or thealtitude/time corridor and the current altitude/time coordinates atwhich the parachute or paraglider is located. These can be transmittedto a display or generally to a man-machine interface (MMI) so that apilot can implement them accordingly in controlling the parachute. TheMMI can also be present in an external unit, e.g., in a ground stationor in an aircraft, in order to control the parachute or the parachutesfrom there via transmit and receive devices. Alternatively oradditionally, this information can also be transmitted to a controlsystem 111 or a corresponding unit that determines control commands fromvariance differences, which commands are likewise transmitted to the MMIor a corresporiding actuator that automatically controls the parachutewith reference to the desired specifications.

[0055] An altitude measuring device 101 and a time measuring device 103are assigned to the path guidance system 1 according to the invention.The altitude measuring device 101 can be realized by a satellitealtitude measuring device or a satellite navigation device or a pressurecell or another altitude measuring device according to the prior art.With the aid of the altitude measuring device 101, the path guidancesystem 1 or the flight path control system 11 determines the currentaltitude of the parachute or paraglider and with the time measuringdevice 103, the current time.

[0056] A flight path control system 111 assigns at a or for a specifictime the current altitude coordinates to the corresponding altitudecoordinates of a limit line or both limit lines of the altitude/timecorridor or safety altitude/time corridor according to the invention orthe altitude coordinates of another relevant altitude/timeline. In thealternative path guidance concept the current altitude coordinates areassigned to the corresponding altitude coordinates of a correspondingaltitude/timeline according to the invention.

[0057] The path guidance system 1 according to the invention thus usesan altitude/time specification for the path curve of the respectiveparachute or paraglider 5 and compares the altitude/time specificationto the actual time and the actual altitude. From this a representationcan be made for the actual altitude relative to the altitude/timespecification for display by a man-machine interface (MMI) 113. Theflight path control system 111 can thereby be determined in particularthe minimum and maximum desired altitude and the actual altitude of theparachute or paraglider for the current time or iteration step. Thisalso applies for the automatic control.

[0058] Alternatively or additionally to a representation of the relativeactual altitude, a control specification can also be transmitted to thepilot, whereby the control specification comprises an increase ordecrease in altitude to be achieved in visual form by means of a graphicrepresentation and additionally or alternatively in auditory form bymeans of a speech system. This specification can be made thereby inabsolute values or with reference to a path specification, such as,e.g., a desired altitude/timeline. The MMI informs the pilot whether heis still in the permissible and/or safe altitude/time range. Thepermissible altitude range is limited by the desired altitude/timelines.The safe altitude/time range is limited by the safetyaltitude/timelines. The departure from a desired altitude/timeline orlimit lines of the relevant altitude/time corridor can also be displayedanalogously by means of an indicator instrument or also by means of atleast one color field. The color red could thus mean that the pilot hasto steer maximally or almost maximally in a specific direction. Thedirection, i.e., whether a lowest possible or highest possible sink rateis required, can be determined through additional information. The formof the respectively used color field or the selection or position of thecolor field are thereby possible. Green could thereby mean that noadditional control measure is necessary. A third color, such as, e.g.,yellow, could mean an intermediate area with reference to the necessarycontrol measure. Instead of the colors mentioned by way of example,other colors can be used for the color fields from ergonomic viewpoints.

[0059] Alternatively or additionally the measure the pilot has to takein order to fly in the permissible or safe altitude/time range can alsobe indicated in another way. Verbal commands can thereby be used whichindicate to the pilot the deviation from the average desired altitudeline or reference line 28 and/or the distance from the relevant pointsof the desired altitude/timelines 22, 24 and/or from the desiredaltitude/timelines 31, 32. A command can be, “reduce sink flight,” or“dropped below safe altitude range.” These commands can also be made onthe basis of corresponding differences with continuous distance datafrom the relevant desired altitude/timelines 22, 24, safetyaltitude/timelines 31, 32 or the reference line 28.

[0060] In another embodiment of the path guidance system 1 according tothe invention, in addition it determines a predicted spatial path curveor also a predicted spatially fixed touchdown time on the basis of acorresponding sink rate of the parachute or paraglider 5 and transmitsit or them to the pilot in visual form by means of a graphicrepresentation and additionally or alternatively in auditory form bymeans of a speech system. With this image the prior flight path can alsobe represented in the space coordinates and/or in the altitude/timecoordinates, the desired altitude/time corridor 20 and/or the safetyaltitude/time corridor 30 and/or the reference altitude/timeline 28 or,with the alternative path guidance concept, an altitude/timeline towhich the respective parachute or paraglider 5 is assigned and/or otherof these specifications. In particular, in addition to thesespecifications, locally adjacent specifications and, if necessary,actual positions or prior flight paths of adjacent parachutes orparagliders transmitted to the path guidance system 1 by radio can alsobe displayed. Distances from these path specifications and controlspecifications resulting from them can also be transmitted to the pilotin an auditory manner by means of the speech system.

[0061] In determining the predicted path curve, other functions orvalues can be incorporated, such as, e.g., an atmospheric altitudeprofile. A straight flight or a curved flight, such as, e.g., constantrate of rotation, can be taken as a basis. In another embodiment, apredicted touchdown time can be determined via the predicted path curveand indicated via the man-machine interface 113.

[0062] In another embodiment of the path guidance system 1 it features anavigation system 120 for determining the actual position of theparachute or paraglider 5. In a corresponding manner the man-machineinterface 110 transmits the actual position of the parachute orparaglider 5 with reference to predetermined reference points,preferably in the form of a visual representation. In another embodimentthe path guidance system 1 can have terrain data loaded in acorresponding storage element. In this case, the man-machine interface113 can indicate the actual position with reference to terrain pointsvisually or in an auditory manner. On the basis of the describedpredicted flight path in particular warnings with reference toundesirable touchdown points in the terrain can also be given thereby. Athree-dimensional graphic representation of the actual position withreference to and optionally the predicted touch-down point and/or apredetermined touch-down point within a terrain region likewiserepresented can be given. In this representation, the prior flight path,the desired altitude/time corridor 20 and/or the safety altitude/timecorridor 30, and/or the reference altitude/timeline 28 or, in thealternative path guidance concept, an altitude/timeline to which therespective parachute or paraglider 5 is assigned and/or more of thesespecifications can. In particular in addition to these specificationslocally adjacent specifications and, if necessary, actual positions orprior flight paths of neighboring parachutes or paragliders transmittedto the path guidance system 1 by radio can also be indicated. Distancesfrom these path specifications and resulting control specifications canalso be given to the pilot in an auditory manner by means of the speechsystem.

[0063] The described functions of the path guidance system 1 can beintegrated in terms of equipment technology and also functionally withthe flight path control system 111, the altitude measuring device 101,the time measuring device 103, if necessary, the navigation device andthe man-machine interface in one or more modules according to the priorart.

[0064] In the application of the invention, the pilot with the parachuteor paraglider 5 or the unmanned parachute 5 is set down directly in thedesired corridor or safety corridor 30 assigned to it. In thealternative path guidance concept, the parachute or paraglider can alsobe set down at a specified distance from an altitude/timeline.Alternatively, the parachute or paraglider 5 can also be set downoutside the desired corridor 20 or outside the specified distance. Withthe aid of the data from the man-machine interface, the pilot is ablethrough corresponding steering movements to steer into the desiredcorridor assigned to him or at a specified distance from a desiredaltitude/timeline or to land or touch down in the terrain at a specifiedtime. The same applies to the automatic control by the control unit 110.The control unit 110 can also be controlled from a deployment point bymeans of radio or manually controlled by a pilot sitting at a deploymentpoint.

[0065] According to the invention, the path guidance system is a devicefor determining control specifications at a man-machine interface or acontrol unit for controlling a parachute or paraglider 5, whereby thisfeatures an altitude measuring device 101 for determining the currentaltitude of the parachute or paraglider 5, a time measuring device 103and a flight path control system 111 that compares the current altitudeand time with an altitude/timeline 22, 24; 31, 32; 28 formed from a sinkrate v/time, and determines control specifications from the determineddifference from the altitude/timeline, in order to transmit them to theman-machine interface 110 or the control unit 10. The altitude/timelinecan be a single line provided for the respective parachute or paraglideror one of two limit lines of an altitude/time corridor. In the latteralternative that line is respectively decisive to which the parachuteaccording to the current situation, e.g., on the basis of its distancefrom the lines, should be oriented.

[0066] According to the invention a corresponding process provided forimplementation in a computer program system for determining controlspecifications is provided at a man-machine interface or a control unitfor controlling a parachute or paraglider 5. Thereby specifications areproduced that result from the comparison of the current altitude/timecoordinates of the parachute or paraglider and at least onepredetermined altitude/timeline 22, 24; 31, 32, the course of which isformed respectively from the integral of a predetermined sink rate(v)/time.

1. Flight path planning device for determining path guidance specifications for at least one parachute or paraglider (5), characterized in that the flight path planning device (1) determines an altitude/time corridor (20, 30) as a flying range to be maintained by the parachute or paraglider (5), the limits of which flying range are formed by altitude/timelines (22, 24; 31, 32) on the basis of a reference point determined by an altitude and a time coordinate, whereby the course of the altitude/timelines is formed respectively from the integral of a predetermined sink rate (v)/time and whereby different sink rates are assigned to the altitude/time lines.
 2. Flight path planning device according to claim 1, characterized in that the flight path planning device determines at least two altitude/time corridors (20, 30) for respectively at least one parachute or paraglider (5), the limits of which are spaced apart from one another at a predetermined altitude- and time-dependent distance in order to render possible the set-down of a plurality of parachutes or paragliders (5).
 3. Flight path planning device according to claim 1 or 2, characterized in that the reference point is a set-down point or a touchdown point.
 4. Flight path planning device according to claim 1, 2 or 3, characterized in that the altitude/time corridor is formed from a first altitude/timeline on the basis of a maximum sink rate and from a first altitude/timeline on the basis of a minimum sink rate of the parachute or paraglider (5).
 5. Flight path planning device according to claim 1, 2 or 3, characterized in that the altitude/time corridor is formed from a nominal altitude/timeline on the basis of a nominal sink rate and the limits of the altitude/time corridor through differences from the nominal altitude/timeline.
 6. Flight path planning device according to one of claims 1 through 5, characterized in that in addition using the lift coefficient, the respective sink rate on which the process is based is derived from the effectiveness of the control surfaces as a function of the regulating distance of the control lines and the surface of the parachute or paraglider (5).
 7. Process provided for implementation in a computer program system for determining path guidance specifications for controlling parachutes or paragliders flight path planning device for at least one parachute or paraglider (5), characterized in that an altitude/time corridor (20, 30) is determined as a flying range to be maintained by the parachute or paraglider (5), the limits of which flying range are formed from altitude/timelines (22, 24; 31, 32) the course of which is formed respectively from the integral of a predetermined sink rate (v)/time, whereby different sink rates are assigned to the limits.
 8. Flight path planning device for determining path guidance specifications for at least one parachute or paraglider (5), characterized in that the flight path planning device (1) determines an altitude/timeline (22, 24; 31, 32; 28) on the basis of a reference point determined through an altitude and a time coordinate as a desired line to be maintained by the parachute or paraglider (5) at a predetermined distance, the course of which desired line is formed from the integral of a predetermined sink rate (v)/time.
 9. Flight path planning device according to claim 8, characterized in that the flight path planning device determines at least two altitude/timelines (22, 24; 31, 32; 28) for respectively at least one parachute or paraglider (5) that are spaced apart from one another at a predetermined altitude- and time-dependent distance in order to render possible the set-down of a plurality of parachutes or paragliders (5).
 10. Flight path planning device according to claim 8 or 9, characterized in that the reference point is a set-down point or a touchdown point.
 11. Flight path planning device according to claim 8, 9 or 10, characterized in that the altitude/time corridor is formed from a first altitude/timeline on the basis of a maximum sink rate and from a first altitude/timeline on the basis of a minimum sink rate of the parachute or paraglider (5).
 12. Flight path planning device according to claim 8, 9 or 10, characterized in that the altitude/time corridor is formed from a nominal altitude/timeline on the basis of a nominal sink rate and the limits of the altitude/time corridor through differences from the nominal altitude/timeline.
 13. Flight path planning device according to one of claims 9 through 12, characterized in that in addition the respective sink rate on which the process is based, using the lift coefficient is derived from the effectiveness of the control surfaces as a function of the regulating path of the control lines and the surface of the parachute and paraglider (5).
 14. Process provided for implementation in a computer program system for determining path guidance specifications for controlling at least one parachute or paraglider (5), characterized in that an altitude/timeline (22, 24; 31, 32; 28) formed on the basis of a reference point determined by an altitude and a time coordinate is determined as a desired line to be maintained at a predetermined distance by the parachute or paraglider (5), the course of which desired line is formed from the integral of a predetermined sink rate (v)/time.
 15. Path guidance system for determining control specifications to a man-machine interface (110) or a control unit (10) for controlling a parachute or paraglider (5), characterized in that it features an altitude measuring device (101) for determining the current altitude of the parachute or paraglider (5), a time measuring device (103) and a flight path control system (111) that compares the current altitude and time to the saved limits of an altitude/time corridor (20, 30) formed from a minimum or maximum sink rate (v)/time and determines control specifications from the determined difference from the limits in order to transmit them to the man-machine interface (110) or the control unit (10).
 16. Process provided for implementation in a computer program system for determining control specifications for controlling at least one parachute or paraglider (5), characterized in that the current altitude and time are compared to the saved limits of an altitude/time corridor (20, 30) formed from a minimum or maximum sink rate (v)/time, control specifications are determined from the determined difference from the limits and these are transmitted to the man-machine interface (110) or the control unit (10).
 17. Path guidance system for determining control specifications to a man-machine interface (110) or a control unit (10) for controlling a parachute or paraglider (5), characterized in that it features an altitude measuring device (101) for determining the current altitude of the parachute or paraglider (5), a time measuring device (103) and a flight path control system (111) that compares the current altitude and time to at least one altitude/timeline (22, 24; 31, 32; 28) formed from a sink rate (v)/time and determines control specifications from the determined difference from the altitude/timeline (22, 24; 31, 32; 28) in order to transmit them to the man-machine interface (110) or the control unit (10).
 18. Process provided for implementation in a computer program system for determining path guidance specifications for controlling at least one parachute or paraglider (5), characterized in that the current altitude and time are compared to at least one altitude/timeline (22, 24; 31, 32; 28) formed from a sink rate (v)/time, control specifications are determined from the determined difference from this and the control specifications are transmitted to the man-machine interface (110) or the control unit (10). 